Related papers: Posterior Cram\'er-Rao Bounds on Localization and …
This paper studies a multiple intelligent reflecting surfaces (IRSs) collaborative localization system where multiple semi-passive IRSs are deployed in the network to locate one or more targets based on time-of-arrival. It is assumed that…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…
Multipath-based simultaneous localization and mapping (SLAM) is an emerging paradigm for accurate indoor localization with limited resources. The goal of multipath-based SLAM is to detect and localize radio reflective surfaces to support…
Radio maps enable intelligent wireless applications by capturing the spatial distribution of channel characteristics. However, conventional construction methods demand extensive location-labeled data, which are costly and impractical in…
Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach for future 6G networks to jointly estimate the positions of transmitters and receivers together with the propagation environment. In cooperative…
5G millimeter wave (mmWave) signals have inherent geometric connections to the propagation channel and the propagation environment. Thus, they can be used to jointly localize the receiver and map the propagation environment, which is termed…
Accurately estimating the position of a wireless emitter in a multipath environment based on samples received at various base stations (in known locations) has been extensively explored in the literature. Existing approaches often assume…
The Bayesian Cram\'er-Rao bound (BCRB) is a crucial tool in signal processing for assessing the fundamental limitations of any estimation problem as well as benchmarking within a Bayesian frameworks. However, the BCRB cannot be computed…
This paper investigates an intelligent reflecting surface (IRS) enabled multiuser integrated sensing and communications (ISAC) system, which consists of one multi-antenna base station (BS), one IRS, multiple single-antenna communication…
Knowledge about the location of licensed primary-users (PU) could enable several key features in cognitive radio (CR) networks including improved spatio-temporal sensing, intelligent location-aware routing, as well as aiding spectrum policy…
Geometric environment information aids future distributed radio infrastructures in providing services, such as ultra-reliable communication, positioning, and wireless power transfer (WPT). An a priori known environment model cannot always…
In this work, we develop a multipath-based simultaneous localization and mapping (SLAM) method that can directly be applied to received radio signals. In existing multipath-based SLAM approaches, a channel estimator is used as a…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
This paper investigates an intelligent reflecting surface (IRS) enabled multiuser integrated sensing and communication (ISAC) system, which consists of one multi-antenna base station (BS), one IRS, multiple single-antenna communication…
In this paper, we present a signaling design for secure integrated sensing and communication (ISAC) systems comprising a dual-functional multi-input multi-output (MIMO) base station (BS) that simultaneously communicates with multiple users…
Magnetic induction (MI) enables communication in RF-denied environments (underground, underwater, in-body), where the medium conductivity imprints a deterministic signature on the channel. This letter derives a closed-form Cram\'{e}r--Rao…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…